技术领域technical field
本发明属于自动化、通信与计算机技术领域，具体涉及一种基于路侧设备的智能车辆地图融合系统及方法。The invention belongs to the technical fields of automation, communication and computer, and in particular relates to an intelligent vehicle map fusion system and method based on roadside equipment.
背景技术Background technique
环境感知与地图生成是智能车辆的关键技术之一，为了提高智能车辆辅助驾驶安全预警及自动驾驶路径规划的性能，智能车辆需要具有尽可能大的环境感知范围，但传统方法中一般仅依赖车辆本身的车载传感器，使得车辆的感知能力极为受限。Environmental perception and map generation are one of the key technologies of intelligent vehicles. In order to improve the performance of intelligent vehicle assisted driving safety warning and automatic driving path planning, intelligent vehicles need to have as large a range of environmental perception as possible. However, traditional methods generally only rely on vehicle The on-board sensor itself makes the vehicle's perception ability extremely limited.
中国专利申请：一种智能导航系统(申请号：CN200710064151.3)公开了一种利用服务器端给车辆客户端发送实时的交通信息给用户规划路线，该方法使用网络获取交通实况来进行规划路线，不涉及多车辆实时地图融合。中国专利申请：一种基于车路协同技术的车载虚拟道路状态显示系统(申请号：CN201610034923.8)公开了一种利用信息交互系统获取车辆信息和车辆附近道路情况，使用车载虚拟显示系统显示信息，该方法使用路侧设备处理整合接收的车辆和道路信息，不涉及多车辆实时地图融合，也没有区别不同的道路。中国专利申请：基于ADAS的驾驶辅助系统(申请号：CN201511008743.4)公开了一种使用云端采集车载设备采集的环境信息生成安全地图，不涉及多车辆实时地图融合，也没有区别不同的道路。中国专利申请：基于安全驾驶地图的ADASIS扩展信息输出装置及方法(申请号：CN201510496628.X)公开了一种利用ADASIS扩展信息对安全驾驶地图进行信息的扩展，该方法只使用单个车辆当前位置的扩展信息，没有考虑多车辆信息融合以及与路侧设备的协同。中国专利申请：基于ADAS的驾驶辅助系统(申请号：CN201511010294.7)公开了一种基于ADAS的驾驶辅助系统，该系统通过车间通信技术实现不同车辆之间的传感器信息交互，解决车辆安全预警范围受制于车载传感器探测距离的问题。该系统没有对车辆的关联性进行区别，没有考虑与路侧设备的协同。Chinese patent application: An intelligent navigation system (application number: CN200710064151.3) discloses a method that uses the server to send real-time traffic information to the vehicle client to plan the route for the user. The method uses the network to obtain the traffic situation to plan the route. No multi-vehicle real-time map fusion is involved. Chinese patent application: A vehicle-mounted virtual road status display system based on vehicle-road coordination technology (application number: CN201610034923.8) discloses a vehicle information interaction system to obtain vehicle information and road conditions near the vehicle, and use the vehicle-mounted virtual display system to display information , the method uses roadside equipment to process and integrate received vehicle and road information, does not involve multi-vehicle real-time map fusion, and does not distinguish between different roads. Chinese patent application: Driver Assistance System Based on ADAS (Application No.: CN201511008743.4) discloses a method of using cloud to collect environmental information collected by vehicle equipment to generate a safety map, which does not involve real-time map fusion of multiple vehicles, and does not distinguish between different roads. Chinese patent application: ADASIS extended information output device and method based on safe driving map (Application No.: CN201510496628.X) discloses a method of using ADASIS extended information to expand information on safe driving maps. The method only uses the current position of a single vehicle Extended information does not consider multi-vehicle information fusion and collaboration with roadside equipment. Chinese patent application: ADAS-based driving assistance system (application number: CN201511010294.7) discloses an ADAS-based driving assistance system, which realizes sensor information interaction between different vehicles through vehicle-to-vehicle communication technology, and solves the scope of vehicle safety warning It is limited by the detection distance of on-board sensors. The system does not distinguish the relevance of vehicles, and does not consider the coordination with roadside equipment.
本发明针对现有智能车辆环境感知能力受限、多车辆信息融合时没有对车辆的关联性进行区别的问题，提出了一种基于路侧设备的智能车辆地图融合系统及方法。在该系统中，路侧设备通过DSRC接收通信范围内多个车辆的局部地图信息，将车辆按照所属道路分类并融合，生成各条道路的融合地图并反馈给各车辆，从而扩展智能车辆环境感知范围，有助于提高智能车辆辅助驾驶/自动驾驶性能。Aiming at the problems that the existing intelligent vehicles have limited environmental perception ability and that the correlation of vehicles is not distinguished during multi-vehicle information fusion, the present invention proposes an intelligent vehicle map fusion system and method based on roadside equipment. In this system, the roadside equipment receives the local map information of multiple vehicles within the communication range through DSRC, classifies and fuses the vehicles according to the road they belong to, generates a fusion map of each road and feeds it back to each vehicle, thereby expanding the environmental awareness of intelligent vehicles Range, which helps to improve the assisted driving/automatic driving performance of intelligent vehicles.
发明内容Contents of the invention
本发明针对以上现有发明的不足，为了解决现有智能车辆环境感知能力受车载传感器的限制、多车辆信息融合时没有对车辆的关联性进行区别的问题，提出了一种基于路侧设备的智能车辆地图融合系统及方法来有效扩展智能车辆环境感知能力，提高智能车辆辅助驾驶/自动驾驶性能。The present invention aims at the deficiencies of the above existing inventions, and in order to solve the problems that the existing intelligent vehicle environment perception ability is limited by the on-board sensors, and the correlation between vehicles is not distinguished when multi-vehicle information is fused, a roadside device-based An intelligent vehicle map fusion system and method to effectively expand the environment perception capability of intelligent vehicles and improve the assisted driving/automatic driving performance of intelligent vehicles.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
一种基于路侧设备的智能车辆地图融合系统，其包括：车载设备与路侧设备两部分。其中所述车载设备包括车辆定位模块、ADAS(Advanced Driver Assistance Systems,高级驾驶员辅助系统)地图接口模块、局部地图生成模块、车辆DSRC(Dedicated ShortRange Communications，专用短程无线通信)通信模块和地图转换模块，所述路侧设备包括路侧DSRC通信模块和地图融合模块。An intelligent vehicle map fusion system based on roadside equipment, which includes two parts: vehicle equipment and roadside equipment. Wherein the on-board equipment includes a vehicle positioning module, an ADAS (Advanced Driver Assistance Systems, advanced driver assistance system) map interface module, a local map generation module, a vehicle DSRC (Dedicated Short Range Communications, dedicated short-range wireless communication) communication module and a map conversion module , the roadside equipment includes a roadside DSRC communication module and a map fusion module.
其中，车载设备部分：所述车辆定位模块，用于通过卫星定位设备获取主车在地理坐标系下的位置与姿态信息；所述ADAS地图接口模块，用于根据车辆定位模块给出的车辆位置，从ADAS地图数据库中获取主车当前位置的道路Id编号；所述局部地图生成模块，用于通过车载传感器检测主车周围环境，根据传感器测量数据，生成主车当前位置对应的局部地图；所述车辆DSRC通信模块，用于发布主车当前时刻位置、姿态、车辆当前道路Id以及局部地图，同时接收路侧设备发布的路侧设备位置、姿态以及与主车当前道路Id一致的融合地图；所述地图转换模块，用于将融合地图转换到主车坐标系。Among them, the on-board equipment part: the vehicle positioning module is used to obtain the position and attitude information of the main vehicle in the geographic coordinate system through the satellite positioning device; the ADAS map interface module is used to obtain the vehicle position according to the vehicle positioning module Obtaining the road Id number of the current position of the main vehicle from the ADAS map database; the local map generation module is used to detect the surrounding environment of the main vehicle through the vehicle sensor, and generate a local map corresponding to the current position of the main vehicle according to the sensor measurement data; The vehicle DSRC communication module is used to issue the current moment position, attitude, vehicle current road Id and local map of the main vehicle, and simultaneously receive the roadside equipment position issued by the roadside equipment, the attitude and the fusion map consistent with the current road Id of the main vehicle; The map conversion module is used to convert the fusion map to the main vehicle coordinate system.
路侧设备部分：所述路侧DSRC通信模块，用于接收来自路侧设备周围通信范围内各车辆发布的车辆位置、姿态、所在道路Id及相应的局部地图，并发布路侧设备当前位置、姿态以及地图融合模块融合各车辆局部地图后得到的融合地图；所述地图融合模块，用于将路侧DSRC通信模块接收的各车辆局部地图转换到路侧设备坐标系，根据道路Id对局部地图进行分类，将具有相同道路Id的局部地图进行融合，得到各道路上的融合地图。Roadside equipment part: the roadside DSRC communication module is used to receive the vehicle position, posture, road Id and corresponding local map issued by each vehicle within the communication range around the roadside equipment, and issue the current position of the roadside equipment, Attitude and the fusion map obtained after the fusion of each vehicle local map by the map fusion module; the map fusion module is used to convert each vehicle local map received by the roadside DSRC communication module to the roadside equipment coordinate system, and perform local map processing according to the road Id Classification is carried out, and the local maps with the same road Id are fused to obtain the fused map on each road.
进一步的，所述车辆定位模块通过卫星定位设备采集并计算出主车在地理坐标系下的位置和姿态。Further, the vehicle positioning module collects and calculates the position and attitude of the main vehicle in the geographic coordinate system through satellite positioning equipment.
进一步的，所述车载设备局部地图生成模块生成的局部地图格式为栅格地图。局部地图以车辆当前位置为原点，车头方向为y轴正向，地图每个栅格用一个向量表示，局部地图表示为以栅格向量为元素的矩阵。Further, the format of the local map generated by the on-vehicle device local map generation module is a grid map. The local map takes the current position of the vehicle as the origin, and the direction of the front of the vehicle is the positive direction of the y-axis. Each grid of the map is represented by a vector, and the local map is represented as a matrix with grid vectors as elements.
进一步的，所述车载设备局部地图生成模块中，车载传感器检测并获取主车周围环境中障碍物(车辆、行人以及其他障碍物)的位置及尺寸信息，在主车栅格地图坐标系中计算各障碍物所覆盖的栅格区域，未覆盖满一个栅格也按覆盖一个栅格计算，并将被覆盖的栅格区域的栅格状态设置为占据状态。Further, in the vehicle-mounted equipment local map generation module, the vehicle-mounted sensor detects and obtains the position and size information of obstacles (vehicles, pedestrians, and other obstacles) in the surrounding environment of the main vehicle, and calculates them in the main vehicle grid map coordinate system For the grid area covered by each obstacle, if a grid is not covered, it is also calculated as covering a grid, and the grid state of the covered grid area is set to the occupied state.
进一步的，所述路侧设备地图融合模块的融合地图格式为栅格地图。融合地图表示为以路侧设备位置为原点，道路法线方向为y轴正向，地图每个栅格用一个向量表示，融合地图表示为以栅格向量为元素的矩阵。Further, the fusion map format of the roadside equipment map fusion module is a grid map. The fusion map is expressed as the origin of the roadside equipment position, the normal direction of the road is the positive direction of the y-axis, each grid of the map is represented by a vector, and the fusion map is represented as a matrix with grid vectors as elements.
一种基于所述系统的路侧设备智能车辆地图融合方法，其包括以下步骤：A roadside equipment intelligent vehicle map fusion method based on the system, comprising the following steps:
(1)主车位置与姿态检测：在当前时刻k，主车车载设备的车辆定位模块通过卫星定位设备采集并计算出k时刻主车在地理坐标系下的位置和姿态；(1) The position and attitude detection of the main vehicle: at the current time k, the vehicle positioning module of the vehicle-mounted equipment of the main vehicle collects and calculates the position and attitude of the main vehicle under the geographic coordinate system at time k through satellite positioning equipment;
(2)主车当前所在道路确定：车载设备ADAS地图接口模块根据车辆定位模块提供的主车位置，从ADAS地图数据库中获取主车当前位置的道路Id编号Idkh；(2) The road where the main vehicle is currently located is determined: the vehicle-mounted equipment ADAS map interface module obtains the road Id number Idkh of the current position of the main vehicle from the ADAS map database according to the main vehicle position provided by the vehicle positioning module;
(3)局部地图生成：车载传感器采集主车周围环境信息的观测数据，生成主车k时刻的局部栅格地图；(3) Local map generation: the on-board sensor collects the observation data of the surrounding environment information of the main vehicle, and generates a local grid map of the main vehicle at time k;
(4)主车信息发布：车载DSRC通信模块发布主车当前时刻位置、姿态、道路Id编号以及局部栅格地图；(4) Main vehicle information release: The vehicle-mounted DSRC communication module publishes the current position, attitude, road Id number and local grid map of the main vehicle;
(5)路侧设备信息接收：路侧DSRC通信模块接收各车辆发布的位置、姿态、道路Id编号以及局部栅格地图；(5) Roadside equipment information reception: the roadside DSRC communication module receives the position, attitude, road Id number and local grid map issued by each vehicle;
(6)地图融合：路侧设备地图融合模块将路侧DSRC通信模块接收的各车辆局部地图转换为路侧设备坐标系下的局部地图；将道路按照Id编号分类，并将具有相同道路Id编号的局部地图归类，对每一类局部地图分别进行融合，得到各道路上的融合地图；(6) Map fusion: the roadside equipment map fusion module converts the local maps of each vehicle received by the roadside DSRC communication module into local maps under the roadside equipment coordinate system; classifies the roads according to the Id number, and will have the same road Id number Classify the local maps of each type, and fuse each type of local maps separately to obtain the fusion maps on each road;
(7)融合地图发布：路侧DSRC通信模块发布当前路侧设备的位置、姿态、各道路Id编号以及对应的融合地图；(7) Converged map release: the roadside DSRC communication module publishes the current position, posture, road ID number and corresponding fusion map of the roadside equipment;
(8)车载设备信息接收：车载DSRC通信模块接收当前路侧设备的位置、、与主车当前道路Id编号一致的融合地图；(8) On-vehicle equipment information reception: the on-vehicle DSRC communication module receives the location of the current roadside equipment, and the fusion map consistent with the current road Id number of the main vehicle;
(9)主车地图转换：车载设备地图转换模块将融合地图转换到主车坐标系，得到主车融合地图。(9) Main vehicle map conversion: The on-board equipment map conversion module converts the fusion map to the main vehicle coordinate system to obtain the main vehicle fusion map.
进一步的，所述步骤(6)地图融合的步骤是：Further, the steps of step (6) map fusion are:
(1)局部地图坐标变换：将路侧DSRC通信模块接收的各车辆局部地图转换为路侧设备坐标系下的局部地图；(1) Local map coordinate transformation: convert the local map of each vehicle received by the roadside DSRC communication module into a local map under the roadside equipment coordinate system;
(2)局部地图分类：将道路按照Id编号分类，并将具有相同道路Id编号的局部地图根据道路分类进行归类；(2) Classification of local maps: classify roads according to Id number, and classify local maps with the same road Id number according to road classification;
(3)地图融合：对每一类局部地图分别进行融合，得到不同道路上的融合地图，融合规则是：对重叠区域按照“或”进行栅格融合处理，对非重叠区域进行拼接处理。(3) Map fusion: each type of local map is fused separately to obtain fused maps on different roads. The fusion rule is: perform grid fusion processing on overlapping areas according to "or", and splicing processing on non-overlapping areas.
本发明的优点及有益效果如下：Advantage of the present invention and beneficial effect are as follows:
本发明提出一种基于路侧设备的智能车辆地图融合系统及方法。DSRC是一种适合高速运动下的移动目标的双向无线通信技术，本发明提出的地图融合系统利用路侧设备通过DSRC通信装置接收通信范围内多个车辆的局部地图信息，融合后反馈给各车辆，使得多个车辆之间实现感知能力的共享，扩展了智能车辆环境感知范围；其次，将车辆按照所属道路分类再分别进行融合生成各条道路的融合地图，提高了地图融合的效率及准确性；第三，通过路侧设备对各车辆的局部地图进行融合并发布，车辆只需要提供局部地图而不需要有地图融合模块，降低了车载设备的要求。通过以上创新与改进，本发明实现了多车辆感知能力共享，有效扩展了智能车辆环境感知范围，对提高智能车辆辅助驾驶/自动驾驶性能具有重要意义和使用价值。The invention proposes an intelligent vehicle map fusion system and method based on roadside equipment. DSRC is a two-way wireless communication technology suitable for moving targets under high-speed motion. The map fusion system proposed in the present invention uses roadside equipment to receive local map information of multiple vehicles within the communication range through the DSRC communication device, and feeds back to each vehicle after fusion , enabling the sharing of perception capabilities between multiple vehicles, expanding the scope of intelligent vehicle environment perception; secondly, merging vehicles according to their road classifications to generate fusion maps for each road, improving the efficiency and accuracy of map fusion ; Thirdly, the local maps of each vehicle are fused and released through the roadside equipment, and the vehicle only needs to provide a partial map without a map fusion module, which reduces the requirements for on-board equipment. Through the above innovations and improvements, the present invention realizes the sharing of multi-vehicle perception capabilities, effectively expands the range of intelligent vehicle environment perception, and is of great significance and use value for improving the assisted driving/automatic driving performance of intelligent vehicles.
附图说明Description of drawings
图1是本发明提供优选实施例基于路侧设备的智能车辆地图融合系统总体架构；Fig. 1 is the overall architecture of the intelligent vehicle map fusion system based on roadside equipment provided by the preferred embodiment of the present invention;
图2本发明智能车辆局部地图的格式及坐标系定义；The format and coordinate system definition of Fig. 2 intelligent vehicle partial map of the present invention;
图3本发明路侧设备融合地图的格式及坐标系定义；Fig. 3 format and coordinate system definition of roadside equipment fusion map of the present invention;
图4本发明基于路侧设备的智能车辆地图融合方法流程图；Fig. 4 is the flow chart of the intelligent vehicle map fusion method based on the roadside equipment of the present invention;
图5本发明路侧设备地图融合方法流程图。Fig. 5 is a flow chart of the roadside equipment map fusion method of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、详细地描述。所描述的实施例仅仅是本发明的一部分实施例。The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.
本发明解决上述技术问题的技术方案是：The technical scheme that the present invention solves the problems of the technologies described above is:
如图1所示为本发明提出的一种基于路侧设备智能车辆地图融合系统总体架构。该系统可划分为车载设备与路侧设备两部分，通过DSRC进行通信。As shown in Fig. 1, the overall architecture of a roadside device-based intelligent vehicle map fusion system proposed by the present invention is shown. The system can be divided into two parts: on-board equipment and roadside equipment, which communicate through DSRC.
其中，车载设备包括车辆定位模块、ADAS地图接口模块、局部地图生成模块、车辆DSRC通信模块和地图转换模块；路侧设备包括路侧DSRC通信模块和地图融合模块。Among them, the on-board equipment includes vehicle positioning module, ADAS map interface module, local map generation module, vehicle DSRC communication module and map conversion module; roadside equipment includes roadside DSRC communication module and map fusion module.
车载设备部分：车辆定位模块用于通过卫星定位设备获取主车在地理坐标系下的位置与姿态信息；ADAS地图接口模块用于根据车辆定位模块给出的车辆位置，从ADAS地图数据库中获取主车当前位置的道路Id编号；局部地图生成模块用于通过车载传感器检测主车周围环境，根据传感器测量数据，生成主车当前位置对应的局部地图；车辆DSRC通信模块用于发布主车当前时刻位置、姿态、车辆当前道路Id以及局部地图，同时接收路侧设备发布的路侧设备位置、姿态以及与主车当前道路Id一致的融合地图；地图转换模块用于将融合地图转换到主车坐标系。On-board equipment part: the vehicle positioning module is used to obtain the position and attitude information of the main vehicle in the geographic coordinate system through the satellite positioning equipment; the ADAS map interface module is used to obtain the main vehicle from the ADAS map database according to the vehicle position given by the vehicle positioning module. The road Id number of the current position of the vehicle; the local map generation module is used to detect the surrounding environment of the main vehicle through the vehicle sensor, and generate a local map corresponding to the current position of the main vehicle according to the sensor measurement data; the vehicle DSRC communication module is used to publish the current position of the main vehicle , attitude, vehicle current road Id and local map, and receive the roadside equipment position, attitude and fusion map consistent with the current road Id of the main vehicle issued by the roadside equipment at the same time; the map conversion module is used to convert the fusion map to the main vehicle coordinate system .
路侧设备部分：路侧DSRC通信模块用于接收来自路侧设备周围通信范围内各车辆发布的车辆位置、姿态、所在道路Id及相应的局部地图，并发布路侧设备当前位置、姿态以及地图融合模块融合各车辆局部地图后得到的融合地图；地图融合模块用于将路侧DSRC通信模块接收的各车辆局部地图转换到路侧设备坐标系，根据道路Id对局部地图进行分类，将具有相同道路Id的局部地图进行融合，得到各道路上的融合地图。Roadside equipment part: the roadside DSRC communication module is used to receive the vehicle position, attitude, road ID and corresponding local map issued by vehicles within the communication range around the roadside equipment, and publish the current position, attitude and map of the roadside equipment The fusion map obtained after the fusion module fuses the local maps of each vehicle; the map fusion module is used to convert the local maps of each vehicle received by the roadside DSRC communication module into the coordinate system of the roadside equipment, and classify the local maps according to the road Id, which will have the same The local maps of the road Id are fused to obtain the fused maps on each road.
2、如图2所示为本发明采用的智能车辆车载设备局部地图的格式及坐标系定义。局部地图表示为以车辆当前位置为原点，车头方向为y轴正向，长为L、宽为W的矩形区域。选取规格为R*R的单元栅格将局部地图离散化为n*m(n＝L/R，m＝W/R)个栅格，每个栅格用一个向量表示为局部地图表示为以栅格向量为元素的矩阵其中为栅格中心的坐标，取整数，为栅格状态，为占据状态，表示该栅格处有障碍物，为未占据状态。2. As shown in FIG. 2, the format and coordinate system definition of the local map of the vehicle-mounted equipment of the intelligent vehicle adopted by the present invention. The local map is expressed as a rectangular area with the current position of the vehicle as the origin, the direction of the front of the vehicle as the positive direction of the y-axis, and the length as L and the width as W. Select a unit grid whose specification is R*R to discretize the local map into n*m (n=L/R, m=W/R) grids, and each grid is represented by a vector as Local maps are represented as raster vectors matrix of elements in is the coordinate of the center of the grid, an integer, is the grid state, is the occupied state, indicating that there is an obstacle at the grid, is unoccupied.
在车载设备局部地图生成时，车载传感器检测并获取主车周围环境中障碍物(车辆、行人以及其他障碍物)的位置及尺寸信息，在主车栅格地图坐标系中计算各障碍物所覆盖的栅格区域，未覆盖满一个栅格也按覆盖一个栅格计算，并将被覆盖的栅格区域的栅格状态设置为占据状态，生成的局部栅格地图为When the local map of the on-board equipment is generated, the on-board sensor detects and obtains the position and size information of obstacles (vehicles, pedestrians and other obstacles) in the surrounding environment of the main vehicle, and calculates the coverage of each obstacle in the main vehicle grid map coordinate system grid area, a grid that is not covered is also calculated as covering a grid, and the grid state of the covered grid area is set to the occupied state, The resulting local grid map is
3、如图3所示为本发明路侧设备融合地图的格式及坐标系定义。路侧设备地图融合模块的融合地图格式为栅格地图。融合地图以路侧设备位置为原点，道路法线方向为y轴正向，地图栅格尺寸规格为R*R，每个栅格用一个向量表示为融合地图表示为以栅格向量为元素的矩阵其中其中n’、m’为纵、横向的栅格数，为栅格中心坐标，为栅格状态，为占据状态，表示该栅格处有障碍物，为未占据状态。3. As shown in FIG. 3, the format and coordinate system definition of the roadside equipment fusion map of the present invention are shown. The fusion map format of the roadside equipment map fusion module is a grid map. The fusion map takes the position of the roadside equipment as the origin, the normal direction of the road is the positive direction of the y-axis, the size of the map grid is R*R, and each grid is represented by a vector as The fused map is represented as a raster vector matrix of elements Among them, n' and m' are the number of vertical and horizontal grids, is the grid center coordinates, is the grid state, is the occupied state, indicating that there is an obstacle at the grid, is unoccupied.
4、如图4所示为本发明基于路侧设备的智能车辆地图融合方法流程图，该方法包括以下步骤：4. As shown in Figure 4, it is a flow chart of the intelligent vehicle map fusion method based on roadside equipment of the present invention, and the method includes the following steps:
(1)主车位置与姿态检测：在当前时刻k，主车车载设备的车辆定位模块通过卫星定位设备采集并计算出k时刻主车在地理坐标系下的位置和姿态其中姿态定义为车辆行驶方向与地理坐标系正北方向夹角；(1) The position and attitude detection of the main vehicle: At the current time k, the vehicle positioning module of the vehicle equipment of the main vehicle collects and calculates the position of the main vehicle in the geographical coordinate system at time k through the satellite positioning equipment and gesture The attitude is defined as the angle between the driving direction of the vehicle and the true north direction of the geographic coordinate system;
(2)主车当前所在道路确定：车载设备ADAS地图接口模块根据车辆定位模块提供的主车位置，从ADAS地图数据库中获取主车当前位置的道路Id编号(2) Determination of the current road where the main vehicle is located: the on-board equipment ADAS map interface module obtains the road Id number of the current location of the main vehicle from the ADAS map database according to the main vehicle location provided by the vehicle positioning module
(3)局部地图生成：车载传感器采集主车周围环境信息的观测数据，生成主车k时刻的局部栅格地图(3) Local map generation: The on-board sensor collects the observation data of the surrounding environment information of the main vehicle, and generates a local grid map of the main vehicle at time k
(4)主车信息发布：车载DSRC通信模块发布主车当前时刻位置姿态道路Id编号以及局部栅格地图(4) Information release of the main vehicle: the vehicle-mounted DSRC communication module publishes the current location of the main vehicle attitude Road Id number and local raster maps
(5)路侧设备信息接收：路侧DSRC通信模块接收各车辆发布的位置姿态道路Id编号以及局部栅格地图(5) Roadside equipment information reception: the roadside DSRC communication module receives the position released by each vehicle attitude Road Id number and local raster maps
(6)地图融合：路侧设备地图融合模块将路侧DSRC通信模块接收的各车辆局部地图转换为路侧设备坐标系下的局部地图将道路按照Id编号分成Ng类Idg(j)，1≤j≤Ng，并将具有相同道路Id编号的局部地图根据Idg(j)分成Ng类，对每一类局部地图分别进行融合，得到各道路上的融合地图(6) Map fusion: the roadside equipment map fusion module will receive the local map of each vehicle received by the roadside DSRC communication module Convert to a local map in the roadside equipment coordinate system Number the roads according to Id Divided into Ng class Idg (j), 1≤j≤Ng, and will have the local map with the same road Id number According to Idg (j), it is divided into Ng classes, and the local maps of each class are fused separately to obtain the fused maps on each road
(7)融合地图发布：路侧DSRC通信模块发布当前路侧设备的位置Lg、姿态Pg、各道路Id编号Idg(j)以及对应的融合地图1≤j≤Ng；(7) Fusion map publishing: the roadside DSRC communication module publishes the current roadside equipment position Lg , attitude Pg , each road Id number Idg (j) and the corresponding fusion map 1≤j≤Ng;
(8)车载设备信息接收：车载DSRC通信模块接收当前路侧设备的位置Lg、姿态Pg、与主车当前道路Id编号一致的Idg(j)以及对应的融合地图记为(8) On-board equipment information reception: The on-board DSRC communication module receives the current roadside equipment position Lg , attitude Pg , and the current road Id number of the main vehicle Consistent Idg (j) and corresponding fusion map recorded as
(9)主车地图转换：车载设备地图转换模块将融合地图转换到主车坐标系，得到主车融合地图(9) Main vehicle map conversion: the vehicle equipment map conversion module will integrate the map Transform to the main vehicle coordinate system to get the main vehicle fusion map
5、如图5所示为本发明路侧设备地图融合方法流程图，该方法包括以下步骤：5. As shown in Figure 5, it is a flow chart of the roadside equipment map fusion method of the present invention, the method includes the following steps:
(1)局部地图坐标变换：将路侧DSRC通信模块接收的各车辆局部地图转换为路侧设备坐标系下的局部地图(1) Local map coordinate transformation: the local map of each vehicle received by the roadside DSRC communication module Convert to a local map in the roadside equipment coordinate system
a.车辆坐标系与路侧设备坐标系变换参数计算：根据车辆i的位置姿态以及路侧设备的位置Lg、姿态Pg，不考虑z轴，计算车辆坐标系与路侧设备坐标系之间的坐标变换参数，包括旋转参数θ(i)与平移参数Δxk(i)、Δy(i)：a. Calculation of transformation parameters between vehicle coordinate system and roadside equipment coordinate system: according to the position of vehicle i attitude And the position Lg and attitude Pg of the roadside equipment, regardless of the z-axis, calculate the coordinate transformation parameters between the vehicle coordinate system and the roadside equipment coordinate system, including the rotation parameter θ(i) and the translation parameter Δxk (i) , Δy(i):
b.车辆i局部栅格地图变换到路侧设备坐标系：根据旋转参数θ(i)与平移参数Δxk(i)、Δy(i)，将车辆i的局部栅格地图变换到路侧设备坐标系中，得到其中为栅格中心坐标，取整数，为栅格状态，变换关系为：b. Transform the local grid map of vehicle i to the roadside equipment coordinate system: according to the rotation parameter θ(i) and translation parameters Δxk (i), Δy(i), the local grid map of vehicle i Transformed into the roadside equipment coordinate system, we get in is the coordinates of the center of the grid, an integer, is the grid state, and the transformation relationship is:
(2)局部地图分类：将道路按照Id编号分成Ng类Idg(j)，0≤j≤Ng，并将具有相同道路Id编号的局部地图根据Idg(j)分成对应的Ng类；(2) Local map classification: number roads according to Id Divided into Ng class Idg (j), 0≤j≤Ng, and will have the local map with the same road Id number Divide into corresponding Ng classes according to Idg (j);
(3)地图融合：对每一类局部地图分别进行融合，得到Ng条道路上的融合地图0≤j≤Ng，融合流程是：(3) Map fusion: Fusion each type of local map separately to obtain fusion maps on Ng roads 0≤j≤Ng, the fusion process is:
a.设j类(0≤j≤Ng)待融合局部地图集中包含nj个局部地图，令a. Set j class (0≤j≤Ng) local atlas to be fused Contains nj local maps, so that
b.对局部地图与融合，融合规则是：对与b. For local maps and Fusion, fusion rules are: yes and
的重叠区域按照“或”进行栅格融合处理，对非重叠区域进行拼接处理。对中Gridr,j(i)的每一分量执行以下算法(b1)-(b3)进行融合：The overlapping areas are processed according to "or" for grid fusion, and the non-overlapping areas are spliced. right Each component of Gridr,j (i) in Perform the following algorithms (b1)-(b3) for fusion:
(b1)重叠区域判断：如果存在中Gridg,j的分量满足条件以及则代表的栅格属于重叠区域，否则属于非重叠区域；(b1) Overlap area judgment: if it exists The components of Gridg,j in To meet the conditions as well as but The grid represented belongs to the overlapping area, otherwise it belongs to the non-overlapping area;
(b2)重叠区域融合：对重叠区域按照“或”进行栅格融合处理，更新上对应的栅格状态：(b2) Overlapping area fusion: For overlapping areas Follow "or" for raster fusion processing, update The corresponding grid state on:
(b3)非重叠区域拼接：对非重叠区域将其增补到的Gridg,j中：(b3) Non-overlapping region stitching: For non-overlapping regions append it to In Gridg,j :
c.重复步骤b，直到对nj个目标车辆全部进行融合，得到路侧设备上的一个融合地图c. Repeat step b until all nj target vehicles are fused to obtain a fused map on the roadside equipment
以上这些实施例应理解为仅用于说明本发明而不用于限制本发明的保护范围。在阅读了本发明的记载的内容之后，技术人员可以对本发明作各种改动或修改，这些等效变化和修饰同样落入本发明权利要求所限定的范围。The above embodiments should be understood as only for illustrating the present invention but not for limiting the protection scope of the present invention. After reading the contents of the present invention, skilled persons can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.
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| CN201710182832.3ACN107063275B (en) | 2017-03-24 | 2017-03-24 | Intelligent vehicle map fusion system and method based on road side equipment |
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| CN201710182832.3ACN107063275B (en) | 2017-03-24 | 2017-03-24 | Intelligent vehicle map fusion system and method based on road side equipment |
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